A self stabilizing Quadrotor with enhanced Kalman Filter
A Quadrotor with a low-cost Attitude Heading Reference System (AHRS) was built from scratch for the investigation on attitude stabilization. This paper investigates the attitude estimation approach and a closed-loop control of the flying Quadrotor through the use of a 16-bit embedded microcontroller. A Kalman filter with improved noise and process covariance estimation from a random noise model was proposed for multi-sensor data fusion. The Quadrotor was able to hover over the ground stably indoors and react to applied disturbances. The attitude estimation approach is verified to be accurate through tests and the response seen in actual flight data.
Quadrotor AHRS kalman filter allan variance attitude estimation sensor fusion PID
Ai-Ling Chan Su-Lim Tan Chu-Lih Kwek
School of Computer Engineering Nanyang Technological University Singapore 639798, Singapore Systems Engineering Department Renesas Electronics Singapore Singapore 098632, Singapore
国际会议
海口
英文
162-166
2011-07-15（万方平台首次上网日期，不代表论文的发表时间）